fsfw/osal/FreeRTOS/BinarySemaphore.h

104 lines
2.8 KiB
C++

/**
* @file BinarySempahore.h
*
* @date 25.02.2020
*/
#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
#include <framework/returnvalues/HasReturnvaluesIF.h>
#include <FreeRTOS.h>
#include "semphr.h"
/**
* @brief OS Tool to achieve synchronization of between tasks or between task and ISR
* @details
* Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
* @ingroup osal
*/
class BinarySemaphore: public HasReturnvaluesIF {
public:
static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
/** Semaphore object not found */
static const ReturnValue_t SEMAPHORE_NOT_FOUND = MAKE_RETURN_CODE(1);
/** Semaphore timeout */
static const ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(2);
/** The current semaphore can not be given, because it is not owned */
static const ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(3);
/**
* Create a binary semaphore
*/
BinarySemaphore();
/**
* Delete the binary semaphore to prevent a memory leak
*/
~BinarySemaphore();
/**
* Take the binary semaphore.
* If the semaphore has already been taken, the task will be blocked for a maximum
* of #timeoutMs or until the semaphore is given back,
* for example by an ISR or another task.
* @param timeoutMs
* @return -@c RETURN_OK on success
* -@c RETURN_FAILED on failure
*/
ReturnValue_t takeBinarySemaphore(uint32_t timeoutMs);
/**
* Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
* @param timeoutTicks
* @return -@c RETURN_OK on success
* -@c RETURN_FAILED on failure
*/
ReturnValue_t takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks);
/**
* Give back the binary semaphore
* @return -@c RETURN_OK on success
* -@c RETURN_FAILED on failure
*/
ReturnValue_t giveBinarySemaphore();
/**
* Get Handle to the semaphore.
* @return
*/
SemaphoreHandle_t getSemaphore();
/**
* Reset the semaphore.
*/
void resetSemaphore();
/**
* Wrapper function to give back semaphore from handle
* @param semaphore
* @return -@c RETURN_OK on success
* -@c RETURN_FAILED on failure
*/
static ReturnValue_t giveBinarySemaphore(SemaphoreHandle_t semaphore);
/**
* Wrapper function to give back semaphore from handle when called from an ISR
* @param semaphore
* @param higherPriorityTaskWoken This will be set to pdPASS if a task with a higher priority
* was unblocked
* @return -@c RETURN_OK on success
* -@c RETURN_FAILED on failure
*/
static ReturnValue_t giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
BaseType_t * higherPriorityTaskWoken);
private:
SemaphoreHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */